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<div class="title">region_growing_rgb.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : mine_all_mine@bk.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_REGION_GROWING_RGB_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_REGION_GROWING_RGB_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/region_growing_rgb.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a74a0032e342ceaa0e1831379e20858a5">   51</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a74a0032e342ceaa0e1831379e20858a5">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::RegionGrowingRGB</a> () :</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  color_p2p_threshold_ (1225.0f),</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  color_r2r_threshold_ (10.0f),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  distance_threshold_ (0.05f),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  region_neighbour_number_ (100),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  point_distances_ (0),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  segment_neighbours_ (0),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  segment_distances_ (0),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  segment_labels_ (0)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1_region_growing.html#a95f1b3605f488bcaa677d166f2b0f362">normal_flag_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classpcl_1_1_region_growing.html#a1a5665f6c84af901ed018521b8b3677d">curvature_flag_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classpcl_1_1_region_growing.html#aa217ad1c027e687ff378edb852ca3052">residual_flag_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="classpcl_1_1_region_growing.html#aaf5fe4e97596798764ebd768193b3054">min_pts_per_cluster_</a> = 10;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a5f47e740b8d6f6cb9eb103f97ff8e5e3">   69</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a5f47e740b8d6f6cb9eb103f97ff8e5e3">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::~RegionGrowingRGB</a> ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  point_distances_.clear ();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  segment_neighbours_.clear ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  segment_distances_.clear ();</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  segment_labels_.clear ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a16e1ea7b450eb9c02e6009d1951b549f">   79</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a16e1ea7b450eb9c02e6009d1951b549f">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getPointColorThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">return</span> (powf (color_p2p_threshold_, 0.5f));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#ae23969f865f015f1010a1e72a56aaf48">   86</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#ae23969f865f015f1010a1e72a56aaf48">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setPointColorThreshold</a> (<span class="keywordtype">float</span> thresh)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  color_p2p_threshold_ = thresh * thresh;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#ad491c40b430a3cce68cbd54f40a8b52e">   93</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#ad491c40b430a3cce68cbd54f40a8b52e">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getRegionColorThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">return</span> (powf (color_r2r_threshold_, 0.5f));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a152ff87cb08e3ef339ec92e339d08ffd">  100</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a152ff87cb08e3ef339ec92e339d08ffd">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setRegionColorThreshold</a> (<span class="keywordtype">float</span> thresh)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;{</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  color_r2r_threshold_ = thresh * thresh;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a59c5a3001175ce1fa3bb8663970a5305">  107</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a59c5a3001175ce1fa3bb8663970a5305">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getDistanceThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">return</span> (powf (distance_threshold_, 0.5f));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a1500b628d0e3321a57c2deee0d007e47">  114</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a1500b628d0e3321a57c2deee0d007e47">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setDistanceThreshold</a> (<span class="keywordtype">float</span> thresh)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  distance_threshold_ = thresh * thresh;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a2c4e18abf46a2884f3c3962c73c57142">  121</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a2c4e18abf46a2884f3c3962c73c57142">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getNumberOfRegionNeighbours</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordflow">return</span> (region_neighbour_number_);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;}</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a4ada7a371b5ac47ac5fb9543716a82d2">  128</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a4ada7a371b5ac47ac5fb9543716a82d2">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setNumberOfRegionNeighbours</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nghbr_number)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  region_neighbour_number_ = nghbr_number;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;}</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a6b9a3a3cd11d45f71ab71acf36620b9b">  135</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a6b9a3a3cd11d45f71ab71acf36620b9b">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getNormalTestFlag</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">return</span> (normal_flag_);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a45b2f1a7947503a313da4b0e3228284a">  142</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a45b2f1a7947503a313da4b0e3228284a">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setNormalTestFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;{</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  normal_flag_ = value;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#af2bd79d30676cddeb1bdb1fbf5facf50">  149</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#af2bd79d30676cddeb1bdb1fbf5facf50">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setCurvatureTestFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  curvature_flag_ = value;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a9ee93524947e897d1f42f50e2e3f91b4">  156</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a9ee93524947e897d1f42f50e2e3f91b4">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::setResidualTestFlag</a> (<span class="keywordtype">bool</span> value)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;{</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  residual_flag_ = value;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;}</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a9171a8be4eec4a3d841a2fe0b28234a9">  163</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a9171a8be4eec4a3d841a2fe0b28234a9">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::extract</a> (std::vector &lt;pcl::PointIndices&gt;&amp; clusters)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  clusters.clear ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  point_neighbours_.clear ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  point_labels_.clear ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  num_pts_in_segment_.clear ();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  point_distances_.clear ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  segment_neighbours_.clear ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  segment_distances_.clear ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  segment_labels_.clear ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  number_of_segments_ = 0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  segmentation_is_possible = prepareForSegmentation ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  findPointNeighbours ();</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  applySmoothRegionGrowingAlgorithm ();</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <a class="code" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">RegionGrowing&lt;PointT, NormalT&gt;::assembleRegions</a> ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  findSegmentNeighbours ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  applyRegionMergingAlgorithm ();</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  std::vector&lt;pcl::PointIndices&gt;::iterator cluster_iter = clusters_.begin ();</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">while</span> (cluster_iter != clusters_.end ())</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_iter-&gt;indices.size ()) &lt; min_pts_per_cluster_ ||</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_iter-&gt;indices.size ()) &gt; max_pts_per_cluster_)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      cluster_iter = clusters_.erase (cluster_iter);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      cluster_iter++;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  clusters.reserve (clusters_.size ());</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  std::copy (clusters_.begin (), clusters_.end (), std::back_inserter (clusters));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a4d47aae4b7956210fa74f85a4ba540fc">  217</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a4d47aae4b7956210fa74f85a4ba540fc">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::prepareForSegmentation</a> ()</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">// if user forgot to pass point cloud or if it is empty</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">if</span> ( input_-&gt;points.size () == 0 )</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="comment">// if normal/smoothness test is on then we need to check if all needed variables and parameters</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// were correctly initialized</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">if</span> (normal_flag_)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="comment">// if user forgot to pass normals or the sizes of point and normal cloud are different</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">if</span> ( normals_ == 0 || input_-&gt;points.size () != normals_-&gt;points.size () )</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="comment">// if residual test is on then we need to check if all needed parameters were correctly initialized</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">if</span> (residual_flag_)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">if</span> (residual_threshold_ &lt;= 0.0f)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// if curvature test is on ...</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">// if (curvature_flag_)</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="comment">// {</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">//   in this case we do not need to check anything that related to it</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="comment">//   so we simply commented it</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// }</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="comment">// here we check the parameters related to color-based segmentation</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">if</span> ( region_neighbour_number_ == 0 || color_p2p_threshold_ &lt; 0.0f || color_r2r_threshold_ &lt; 0.0f || distance_threshold_ &lt; 0.0f )</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="comment">// from here we check those parameters that are always valuable</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordflow">if</span> (neighbour_number_ == 0)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="comment">// if user didn&#39;t set search method</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordflow">if</span> (!search_)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    search_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (indices_-&gt;empty ())</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::RegionGrowingRGB::prepareForSegmentation] Empty given indices!\n&quot;</span>);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    search_-&gt;setInputCloud (input_, indices_);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    search_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;}</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#aefc4dcc3fbe7ab81dd8a2bad27bb0c36">  272</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#aefc4dcc3fbe7ab81dd8a2bad27bb0c36">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::findPointNeighbours</a> ()</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;{</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keywordtype">int</span> point_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  std::vector&lt;int&gt; neighbours;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  point_neighbours_.resize (input_-&gt;points.size (), neighbours);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  point_distances_.resize (input_-&gt;points.size (), distances);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; point_number; i_point++)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    neighbours.clear ();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    search_-&gt;nearestKSearch (i_point, region_neighbour_number_, neighbours, distances);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    point_neighbours_[point_index].swap (neighbours);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    point_distances_[point_index].swap (distances);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#adea4bb708dcff1412a93b8ee46c9f05f">  294</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#adea4bb708dcff1412a93b8ee46c9f05f">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::findSegmentNeighbours</a> ()</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;{</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  std::vector&lt;int&gt; neighbours;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  segment_neighbours_.resize (number_of_segments_, neighbours);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  segment_distances_.resize (number_of_segments_, distances);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments_; i_seg++)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    std::vector&lt;int&gt; nghbrs;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    std::vector&lt;float&gt; dist;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    findRegionsKNN (i_seg, region_neighbour_number_, nghbrs, dist);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    segment_neighbours_[i_seg].swap (nghbrs);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    segment_distances_[i_seg].swap (dist);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;}</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T,<span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a35a1ca832b5cf24da14f0bdb853d68ba">  313</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a35a1ca832b5cf24da14f0bdb853d68ba">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::findRegionsKNN</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">int</span> nghbr_number, std::vector&lt;int&gt;&amp; nghbrs, std::vector&lt;float&gt;&amp; dist)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;{</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordtype">float</span> max_dist = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  distances.resize (clusters_.size (), max_dist);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordtype">int</span> number_of_points = num_pts_in_segment_[index];</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">//loop throug every point in this segment and check neighbours</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordtype">int</span> point_index = clusters_[index].indices[i_point];</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordtype">int</span> number_of_neighbours = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_neighbours_[point_index].size ());</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="comment">//loop throug every neighbour of the current point, find out to which segment it belongs</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="comment">//and if it belongs to neighbouring segment and is close enough then remember segment and its distance</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_nghbr = 0; i_nghbr &lt; number_of_neighbours; i_nghbr++)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="comment">// find segment</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keywordtype">int</span> segment_index = -1;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      segment_index = point_labels_[ point_neighbours_[point_index][i_nghbr] ];</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keywordflow">if</span> ( segment_index != index )</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="comment">// try to push it to the queue</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="keywordflow">if</span> (distances[segment_index] &gt; point_distances_[point_index][i_nghbr])</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          distances[segment_index] = point_distances_[point_index][i_nghbr];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  }<span class="comment">// next point</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  std::priority_queue&lt;std::pair&lt;float, int&gt; &gt; segment_neighbours;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments_; i_seg++)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">if</span> (distances[i_seg] &lt; max_dist)</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    {</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      segment_neighbours.push (std::make_pair (distances[i_seg], i_seg) );</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keywordflow">if</span> (<span class="keywordtype">int</span> (segment_neighbours.size ()) &gt; nghbr_number)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        segment_neighbours.pop ();</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keywordtype">int</span> size = std::min&lt;int&gt; (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (segment_neighbours.size ()), nghbr_number);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  nghbrs.resize (size, 0);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  dist.resize (size, 0);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordtype">int</span> counter = 0;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="keywordflow">while</span> ( !segment_neighbours.empty () &amp;&amp; counter &lt; nghbr_number )</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    dist[counter] = segment_neighbours.top ().first;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    nghbrs[counter] = segment_neighbours.top ().second;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    segment_neighbours.pop ();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    counter++;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  }</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;}</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a27cc209fc830c696158e21723fecf9d4">  368</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a27cc209fc830c696158e21723fecf9d4">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::applyRegionMergingAlgorithm</a> ()</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;{</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="comment">// calculate color of each segment</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  std::vector&lt; std::vector&lt;unsigned int&gt; &gt; segment_color;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  std::vector&lt;unsigned int&gt; color;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  color.resize (3, 0);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  segment_color.resize (number_of_segments_, color);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points; i_point++)</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  {</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordtype">int</span> segment_index = point_labels_[point_index];</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    segment_color[segment_index][0] += input_-&gt;points[point_index].r;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    segment_color[segment_index][1] += input_-&gt;points[point_index].g;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    segment_color[segment_index][2] += input_-&gt;points[point_index].b;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments_; i_seg++)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    segment_color[i_seg][0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (segment_color[i_seg][0]) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_pts_in_segment_[i_seg]));</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    segment_color[i_seg][1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (segment_color[i_seg][1]) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_pts_in_segment_[i_seg]));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    segment_color[i_seg][2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (segment_color[i_seg][2]) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_pts_in_segment_[i_seg]));</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">// now it is time to find out if there are segments with a similar color</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="comment">// and merge them together</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  std::vector&lt;unsigned int&gt; num_pts_in_homogeneous_region;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  std::vector&lt;int&gt; num_seg_in_homogeneous_region;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  segment_labels_.resize (number_of_segments_, -1);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordtype">float</span> dist_thresh = distance_threshold_;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordtype">int</span> homogeneous_region_number = 0;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="keywordtype">int</span> curr_homogeneous_region = 0;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments_; i_seg++)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    curr_homogeneous_region = 0;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="keywordflow">if</span> (segment_labels_[i_seg] == -1)</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      segment_labels_[i_seg] = homogeneous_region_number;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      curr_homogeneous_region = homogeneous_region_number;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      num_pts_in_homogeneous_region.push_back (num_pts_in_segment_[i_seg]);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      num_seg_in_homogeneous_region.push_back (1);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      homogeneous_region_number++;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      curr_homogeneous_region = segment_labels_[i_seg];</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i_nghbr = 0;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keywordflow">while</span> ( i_nghbr &lt; region_neighbour_number_ &amp;&amp; i_nghbr &lt; segment_neighbours_[i_seg].size () )</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    {</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordtype">int</span> index = segment_neighbours_[i_seg][i_nghbr];</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keywordflow">if</span> (segment_distances_[i_seg][i_nghbr] &gt; dist_thresh)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        i_nghbr++;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <span class="keywordflow">if</span> ( segment_labels_[index] == -1 )</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        <span class="keywordtype">float</span> difference = calculateColorimetricalDifference (segment_color[i_seg], segment_color[index]);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        <span class="keywordflow">if</span> (difference &lt; color_r2r_threshold_)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        {</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;          segment_labels_[index] = curr_homogeneous_region;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          num_pts_in_homogeneous_region[curr_homogeneous_region] += num_pts_in_segment_[index];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          num_seg_in_homogeneous_region[curr_homogeneous_region] += 1;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      i_nghbr++;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    }<span class="comment">// next neighbour</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  }<span class="comment">// next segment</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  segment_color.clear ();</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  color.clear ();</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  std::vector&lt; std::vector&lt;int&gt; &gt; final_segments;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  std::vector&lt;int&gt; region;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  final_segments.resize (homogeneous_region_number, region);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_reg = 0; i_reg &lt; homogeneous_region_number; i_reg++)</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  {</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    final_segments[i_reg].resize (num_seg_in_homogeneous_region[i_reg], 0);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  std::vector&lt;int&gt; counter;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  counter.resize (homogeneous_region_number, 0);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; number_of_segments_; i_seg++)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  {</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="keywordtype">int</span> index = segment_labels_[i_seg];</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    final_segments[ index ][ counter[index] ] = i_seg;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    counter[index] += 1;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  }</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  std::vector&lt; std::vector&lt; std::pair&lt;float, int&gt; &gt; &gt; region_neighbours;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  findRegionNeighbours (region_neighbours, final_segments);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  <span class="keywordtype">int</span> final_segment_number = homogeneous_region_number;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_reg = 0; i_reg &lt; homogeneous_region_number; i_reg++)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  {</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (num_pts_in_homogeneous_region[i_reg]) &lt; min_pts_per_cluster_)</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    {</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordflow">if</span> ( region_neighbours[i_reg].empty () )</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keywordtype">int</span> nearest_neighbour = region_neighbours[i_reg][0].second;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <span class="keywordflow">if</span> ( region_neighbours[i_reg][0].first == std::numeric_limits&lt;float&gt;::max () )</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      <span class="keywordtype">int</span> reg_index = segment_labels_[nearest_neighbour];</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keywordtype">int</span> num_seg_in_reg = num_seg_in_homogeneous_region[i_reg];</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; num_seg_in_reg; i_seg++)</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      {</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <span class="keywordtype">int</span> segment_index = final_segments[i_reg][i_seg];</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        final_segments[reg_index].push_back (segment_index);</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        segment_labels_[segment_index] = reg_index;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      final_segments[i_reg].clear ();</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      num_pts_in_homogeneous_region[reg_index] += num_pts_in_homogeneous_region[i_reg];</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      num_pts_in_homogeneous_region[i_reg] = 0;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      num_seg_in_homogeneous_region[reg_index] += num_seg_in_homogeneous_region[i_reg];</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      num_seg_in_homogeneous_region[i_reg] = 0;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      final_segment_number -= 1;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="keywordtype">int</span> nghbr_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (region_neighbours[reg_index].size ());</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_nghbr = 0; i_nghbr &lt; nghbr_number; i_nghbr++)</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      {</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">if</span> ( segment_labels_[ region_neighbours[reg_index][i_nghbr].second ] == reg_index )</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;          region_neighbours[reg_index][i_nghbr].first = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;          region_neighbours[reg_index][i_nghbr].second = 0;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        }</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;      nghbr_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (region_neighbours[i_reg].size ());</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_nghbr = 0; i_nghbr &lt; nghbr_number; i_nghbr++)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        <span class="keywordflow">if</span> ( segment_labels_[ region_neighbours[i_reg][i_nghbr].second ] != reg_index )</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;        {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;          std::pair&lt;float, int&gt; pair;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;          pair.first = region_neighbours[i_reg][i_nghbr].first;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;          pair.second = region_neighbours[i_reg][i_nghbr].second;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          region_neighbours[reg_index].push_back (pair);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        }</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      region_neighbours[i_reg].clear ();</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      std::sort (region_neighbours[reg_index].begin (), region_neighbours[reg_index].end (), comparePair);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    }</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  }</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  assembleRegions (num_pts_in_homogeneous_region, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (num_pts_in_homogeneous_region.size ()));</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  number_of_segments_ = final_segment_number;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;}</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00520"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a5246c94d7656b82c4b91575f3ec9ddf8">  520</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a5246c94d7656b82c4b91575f3ec9ddf8">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::calculateColorimetricalDifference</a> (std::vector&lt;unsigned int&gt;&amp; first_color, std::vector&lt;unsigned int&gt;&amp; second_color)<span class="keyword"> const</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="keywordtype">float</span> difference = 0.0f;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  difference += float ((first_color[0] - second_color[0]) * (first_color[0] - second_color[0]));</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  difference += float ((first_color[1] - second_color[1]) * (first_color[1] - second_color[1]));</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  difference += float ((first_color[2] - second_color[2]) * (first_color[2] - second_color[2]));</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  <span class="keywordflow">return</span> (difference);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;}</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00531"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a440c1ca16804fb47ae2971eae1400b69">  531</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a440c1ca16804fb47ae2971eae1400b69">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::findRegionNeighbours</a> (std::vector&lt; std::vector&lt; std::pair&lt;float, int&gt; &gt; &gt;&amp; neighbours_out, std::vector&lt; std::vector&lt;int&gt; &gt;&amp; regions_in)</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;{</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  <span class="keywordtype">int</span> region_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (regions_in.size ());</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  neighbours_out.clear ();</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  neighbours_out.resize (region_number);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_reg = 0; i_reg &lt; region_number; i_reg++)</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  {</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    <span class="keywordtype">int</span> segment_num = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (regions_in[i_reg].size ());</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    neighbours_out[i_reg].reserve (segment_num * region_neighbour_number_);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; segment_num; i_seg++)</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    {</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordtype">int</span> curr_segment = regions_in[i_reg][i_seg];</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keywordtype">int</span> nghbr_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (segment_neighbours_[curr_segment].size ());</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      std::pair&lt;float, int&gt; pair;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_nghbr = 0; i_nghbr &lt; nghbr_number; i_nghbr++)</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      {</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        <span class="keywordtype">int</span> segment_index = segment_neighbours_[curr_segment][i_nghbr];</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;        <span class="keywordflow">if</span> ( segment_distances_[curr_segment][i_nghbr] == std::numeric_limits&lt;float&gt;::max () )</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        <span class="keywordflow">if</span> (segment_labels_[segment_index] != i_reg)</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        {</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;          pair.first = segment_distances_[curr_segment][i_nghbr];</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;          pair.second = segment_index;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          neighbours_out[i_reg].push_back (pair);</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        }</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      }<span class="comment">// next neighbour</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;    }<span class="comment">// next segment</span></div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    std::sort (neighbours_out[i_reg].begin (), neighbours_out[i_reg].end (), comparePair);</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  }<span class="comment">// next homogeneous region</span></div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;}</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00565"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#af47eafd7764a18e107ee52f36d62233e">  565</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::assembleRegions</a> (std::vector&lt;unsigned int&gt;&amp; num_pts_in_region, <span class="keywordtype">int</span> num_regions)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;{</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> segment;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  clusters_.resize (num_regions, segment);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_seg = 0; i_seg &lt; num_regions; i_seg++)</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  {</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    clusters_[i_seg].indices.resize (num_pts_in_region[i_seg]);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  }</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  std::vector&lt;int&gt; counter;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  counter.resize (num_regions, 0);</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  <span class="keywordtype">int</span> point_number = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; point_number; i_point++)</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keywordtype">int</span> index = point_labels_[point_index];</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    index = segment_labels_[index];</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    clusters_[index].indices[ counter[index] ] = point_index;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    counter[index] += 1;</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  }</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <span class="comment">// now we need to erase empty regions</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <span class="keywordflow">if</span> (clusters_.empty ()) </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  std::vector&lt;pcl::PointIndices&gt;::iterator itr1, itr2;</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  itr1 = clusters_.begin ();</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  itr2 = clusters_.end () - 1;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keywordflow">while</span> (itr1 &lt; itr2)</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  {</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    <span class="keywordflow">while</span> (!(itr1-&gt;indices.empty ()) &amp;&amp; itr1 &lt; itr2) </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      itr1++;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="keywordflow">while</span> (  itr2-&gt;indices.empty ()  &amp;&amp; itr1 &lt; itr2) </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      itr2--;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keywordflow">if</span> (itr1 != itr2)</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;      itr1-&gt;indices.swap (itr2-&gt;indices);</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  }</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  <span class="keywordflow">if</span> (itr2-&gt;indices.empty ())</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;    clusters_.erase (itr2, clusters_.end ());</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;}</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160; </div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00612"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#a749ce5bf131aa92578762d916fd314df">  612</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#a749ce5bf131aa92578762d916fd314df">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::validatePoint</a> (<span class="keywordtype">int</span> initial_seed, <span class="keywordtype">int</span> point, <span class="keywordtype">int</span> nghbr, <span class="keywordtype">bool</span>&amp; is_a_seed)<span class="keyword"> const</span></div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  is_a_seed = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  <span class="comment">// check the color difference</span></div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  std::vector&lt;unsigned int&gt; point_color;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  point_color.resize (3, 0);</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  std::vector&lt;unsigned int&gt; nghbr_color;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  nghbr_color.resize (3, 0);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  point_color[0] = input_-&gt;points[point].r;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  point_color[1] = input_-&gt;points[point].g;</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  point_color[2] = input_-&gt;points[point].b;</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  nghbr_color[0] = input_-&gt;points[nghbr].r;</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  nghbr_color[1] = input_-&gt;points[nghbr].g;</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  nghbr_color[2] = input_-&gt;points[nghbr].b;</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  <span class="keywordtype">float</span> difference = calculateColorimetricalDifference (point_color, nghbr_color);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keywordflow">if</span> (difference &gt; color_p2p_threshold_)</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="keywordtype">float</span> cosine_threshold = cosf (theta_threshold_);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  <span class="comment">// check the angle between normals if needed</span></div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <span class="keywordflow">if</span> (normal_flag_)</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  {</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="keywordtype">float</span> data[4];</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    data[0] = input_-&gt;points[point].data[0];</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    data[1] = input_-&gt;points[point].data[1];</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    data[2] = input_-&gt;points[point].data[2];</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    data[3] = input_-&gt;points[point].data[3];</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; initial_point (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (data));</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; initial_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[point].normal));</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    <span class="keywordflow">if</span> (smooth_mode_flag_ == <span class="keyword">true</span>)</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    {</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[nghbr].normal));</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;      <span class="keywordtype">float</span> dot_product = fabsf (nghbr_normal.dot (initial_normal));</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;      <span class="keywordflow">if</span> (dot_product &lt; cosine_threshold)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    }</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    {</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[nghbr].normal));</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      Eigen::Map&lt;Eigen::Vector3f&gt; initial_seed_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[initial_seed].normal));</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;      <span class="keywordtype">float</span> dot_product = fabsf (nghbr_normal.dot (initial_seed_normal));</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      <span class="keywordflow">if</span> (dot_product &lt; cosine_threshold)</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    }</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  }</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160; </div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="comment">// check the curvature if needed</span></div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordflow">if</span> (curvature_flag_ &amp;&amp; normals_-&gt;points[nghbr].curvature &gt; curvature_threshold_)</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    is_a_seed = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  <span class="comment">// check the residual if needed</span></div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="keywordflow">if</span> (residual_flag_)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordtype">float</span> data_p[4];</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    data_p[0] = input_-&gt;points[point].data[0];</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    data_p[1] = input_-&gt;points[point].data[1];</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    data_p[2] = input_-&gt;points[point].data[2];</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    data_p[3] = input_-&gt;points[point].data[3];</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    <span class="keywordtype">float</span> data_n[4];</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    data_n[0] = input_-&gt;points[nghbr].data[0];</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    data_n[1] = input_-&gt;points[nghbr].data[1];</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    data_n[2] = input_-&gt;points[nghbr].data[2];</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    data_n[3] = input_-&gt;points[nghbr].data[3];</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; nghbr_point (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (data_n));</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; initial_point (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (data_p));</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    Eigen::Map&lt;Eigen::Vector3f&gt; initial_normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (normals_-&gt;points[point].normal));</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    <span class="keywordtype">float</span> residual = fabsf (initial_normal.dot (initial_point - nghbr_point));</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="keywordflow">if</span> (residual &gt; residual_threshold_)</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;      is_a_seed = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;  }</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;}</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00691"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing_r_g_b.html#ada29f9c9d4c8719ff00ce4d1ef8be55a">  691</a></span>&#160;<a class="code" href="classpcl_1_1_region_growing_r_g_b.html#ada29f9c9d4c8719ff00ce4d1ef8be55a">pcl::RegionGrowingRGB&lt;PointT, NormalT&gt;::getSegmentFromPoint</a> (<span class="keywordtype">int</span> index, <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; cluster)</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;{</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  cluster.indices.clear ();</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  {</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;  }</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  <span class="comment">// first of all we need to find out if this point belongs to cloud</span></div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  <span class="keywordtype">bool</span> point_was_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast &lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> point = 0; point &lt; number_of_points; point++)</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    <span class="keywordflow">if</span> ( (*indices_)[point] == index)</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    {</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      point_was_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;    }</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160; </div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  <span class="keywordflow">if</span> (point_was_found)</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  {</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    <span class="keywordflow">if</span> (clusters_.empty ())</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;    {</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;      clusters_.clear ();</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;      point_neighbours_.clear ();</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;      point_labels_.clear ();</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      num_pts_in_segment_.clear ();</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      point_distances_.clear ();</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      segment_neighbours_.clear ();</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      segment_distances_.clear ();</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;      segment_labels_.clear ();</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      number_of_segments_ = 0;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160; </div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;      segmentation_is_possible = prepareForSegmentation ();</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;      <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;      {</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;        deinitCompute ();</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      }</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;      findPointNeighbours ();</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;      applySmoothRegionGrowingAlgorithm ();</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      <a class="code" href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">RegionGrowing&lt;PointT, NormalT&gt;::assembleRegions</a> ();</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160; </div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;      findSegmentNeighbours ();</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;      applyRegionMergingAlgorithm ();</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;    }</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="comment">// if we have already made the segmentation, then find the segment</span></div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <span class="comment">// to which this point belongs</span></div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    std::vector &lt;pcl::PointIndices&gt;::iterator i_segment;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    <span class="keywordflow">for</span> (i_segment = clusters_.begin (); i_segment != clusters_.end (); i_segment++)</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    {</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      <span class="keywordtype">bool</span> segment_was_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; i_segment-&gt;indices.size (); i_point++)</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      {</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;        <span class="keywordflow">if</span> (i_segment-&gt;indices[i_point] == index)</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        {</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;          segment_was_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;          cluster.indices.clear ();</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;          cluster.indices.reserve (i_segment-&gt;indices.size ());</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;          std::copy (i_segment-&gt;indices.begin (), i_segment-&gt;indices.end (), std::back_inserter (cluster.indices));</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;        }</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;      }</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;      <span class="keywordflow">if</span> (segment_was_found)</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;      {</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;      }</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    }<span class="comment">// next segment</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  }<span class="comment">// end if point was found</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;}</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160; </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEGMENTATION_REGION_GROWING_RGB_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a1a5665f6c84af901ed018521b8b3677d"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a1a5665f6c84af901ed018521b8b3677d">pcl::RegionGrowing&lt; PointT, pcl::Normal &gt;::curvature_flag_</a></div><div class="ttdeci">bool curvature_flag_</div><div class="ttdoc">If set to true then curvature test will be done during segmentation.</div><div class="ttdef"><b>Definition:</b> region_growing.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a95f1b3605f488bcaa677d166f2b0f362"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a95f1b3605f488bcaa677d166f2b0f362">pcl::RegionGrowing&lt; PointT, pcl::Normal &gt;::normal_flag_</a></div><div class="ttdeci">bool normal_flag_</div><div class="ttdoc">If set to true then normal/smoothness test will be done during segmentation. It is always set to true...</div><div class="ttdef"><b>Definition:</b> region_growing.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aa217ad1c027e687ff378edb852ca3052"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aa217ad1c027e687ff378edb852ca3052">pcl::RegionGrowing&lt; PointT, pcl::Normal &gt;::residual_flag_</a></div><div class="ttdeci">bool residual_flag_</div><div class="ttdoc">If set to true then residual test will be done during segmentation.</div><div class="ttdef"><b>Definition:</b> region_growing.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aaf5fe4e97596798764ebd768193b3054"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aaf5fe4e97596798764ebd768193b3054">pcl::RegionGrowing&lt; PointT, pcl::Normal &gt;::min_pts_per_cluster_</a></div><div class="ttdeci">int min_pts_per_cluster_</div><div class="ttdoc">Stores the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_af6effde13de0fe92a2e006dcdcde79ef"><div class="ttname"><a href="classpcl_1_1_region_growing.html#af6effde13de0fe92a2e006dcdcde79ef">pcl::RegionGrowing::assembleRegions</a></div><div class="ttdeci">void assembleRegions()</div><div class="ttdoc">This function simply assembles the regions from list of point labels. Each cluster is an array of poi...</div><div class="ttdef"><b>Definition:</b> region_growing.hpp:550</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a1500b628d0e3321a57c2deee0d007e47"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a1500b628d0e3321a57c2deee0d007e47">pcl::RegionGrowingRGB::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(float thresh)</div><div class="ttdoc">Allows to set distance threshold.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:114</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a152ff87cb08e3ef339ec92e339d08ffd"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a152ff87cb08e3ef339ec92e339d08ffd">pcl::RegionGrowingRGB::setRegionColorThreshold</a></div><div class="ttdeci">void setRegionColorThreshold(float thresh)</div><div class="ttdoc">This method specifies the threshold value for color test between the regions. This kind of testing is...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a16e1ea7b450eb9c02e6009d1951b549f"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a16e1ea7b450eb9c02e6009d1951b549f">pcl::RegionGrowingRGB::getPointColorThreshold</a></div><div class="ttdeci">float getPointColorThreshold() const</div><div class="ttdoc">Returns the color threshold value used for testing if points belong to the same region.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:79</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a27cc209fc830c696158e21723fecf9d4"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a27cc209fc830c696158e21723fecf9d4">pcl::RegionGrowingRGB::applyRegionMergingAlgorithm</a></div><div class="ttdeci">void applyRegionMergingAlgorithm()</div><div class="ttdoc">This function implements the merging algorithm described in the article &quot;Color-based segmentation of ...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:368</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a2c4e18abf46a2884f3c3962c73c57142"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a2c4e18abf46a2884f3c3962c73c57142">pcl::RegionGrowingRGB::getNumberOfRegionNeighbours</a></div><div class="ttdeci">unsigned int getNumberOfRegionNeighbours() const</div><div class="ttdoc">Returns the number of nearest neighbours used for searching K nearest segments. Note that here it ref...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:121</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a35a1ca832b5cf24da14f0bdb853d68ba"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a35a1ca832b5cf24da14f0bdb853d68ba">pcl::RegionGrowingRGB::findRegionsKNN</a></div><div class="ttdeci">void findRegionsKNN(int index, int nghbr_number, std::vector&lt; int &gt; &amp;nghbrs, std::vector&lt; float &gt; &amp;dist)</div><div class="ttdoc">This method finds K nearest neighbours of the given segment.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:313</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a440c1ca16804fb47ae2971eae1400b69"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a440c1ca16804fb47ae2971eae1400b69">pcl::RegionGrowingRGB::findRegionNeighbours</a></div><div class="ttdeci">void findRegionNeighbours(std::vector&lt; std::vector&lt; std::pair&lt; float, int &gt; &gt; &gt; &amp;neighbours_out, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;regions_in)</div><div class="ttdoc">This method assembles the array containing neighbours of each homogeneous region. Homogeneous region ...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:531</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a45b2f1a7947503a313da4b0e3228284a"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a45b2f1a7947503a313da4b0e3228284a">pcl::RegionGrowingRGB::setNormalTestFlag</a></div><div class="ttdeci">void setNormalTestFlag(bool value)</div><div class="ttdoc">Allows to turn on/off the smoothness test.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:142</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a4ada7a371b5ac47ac5fb9543716a82d2"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a4ada7a371b5ac47ac5fb9543716a82d2">pcl::RegionGrowingRGB::setNumberOfRegionNeighbours</a></div><div class="ttdeci">void setNumberOfRegionNeighbours(unsigned int nghbr_number)</div><div class="ttdoc">This method allows to set the number of neighbours that is used for finding neighbouring segments....</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:128</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a4d47aae4b7956210fa74f85a4ba540fc"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a4d47aae4b7956210fa74f85a4ba540fc">pcl::RegionGrowingRGB::prepareForSegmentation</a></div><div class="ttdeci">virtual bool prepareForSegmentation()</div><div class="ttdoc">This method simply checks if it is possible to execute the segmentation algorithm with the current se...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:217</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a5246c94d7656b82c4b91575f3ec9ddf8"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a5246c94d7656b82c4b91575f3ec9ddf8">pcl::RegionGrowingRGB::calculateColorimetricalDifference</a></div><div class="ttdeci">float calculateColorimetricalDifference(std::vector&lt; unsigned int &gt; &amp;first_color, std::vector&lt; unsigned int &gt; &amp;second_color) const</div><div class="ttdoc">This method calculates the colorimetrical difference between two points. In this case it simply retur...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:520</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a59c5a3001175ce1fa3bb8663970a5305"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a59c5a3001175ce1fa3bb8663970a5305">pcl::RegionGrowingRGB::getDistanceThreshold</a></div><div class="ttdeci">float getDistanceThreshold() const</div><div class="ttdoc">Returns the distance threshold. If the distance between two points is less or equal to distance thres...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:107</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a5f47e740b8d6f6cb9eb103f97ff8e5e3"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a5f47e740b8d6f6cb9eb103f97ff8e5e3">pcl::RegionGrowingRGB::~RegionGrowingRGB</a></div><div class="ttdeci">virtual ~RegionGrowingRGB()</div><div class="ttdoc">Destructor that frees memory.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a6b9a3a3cd11d45f71ab71acf36620b9b"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a6b9a3a3cd11d45f71ab71acf36620b9b">pcl::RegionGrowingRGB::getNormalTestFlag</a></div><div class="ttdeci">bool getNormalTestFlag() const</div><div class="ttdoc">Returns the flag that signalize if the smoothness test is turned on/off.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:135</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a749ce5bf131aa92578762d916fd314df"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a749ce5bf131aa92578762d916fd314df">pcl::RegionGrowingRGB::validatePoint</a></div><div class="ttdeci">virtual bool validatePoint(int initial_seed, int point, int nghbr, bool &amp;is_a_seed) const</div><div class="ttdoc">This function is checking if the point with index 'nghbr' belongs to the segment. If so,...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:612</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a74a0032e342ceaa0e1831379e20858a5"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a74a0032e342ceaa0e1831379e20858a5">pcl::RegionGrowingRGB::RegionGrowingRGB</a></div><div class="ttdeci">RegionGrowingRGB()</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a9171a8be4eec4a3d841a2fe0b28234a9"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a9171a8be4eec4a3d841a2fe0b28234a9">pcl::RegionGrowingRGB::extract</a></div><div class="ttdeci">virtual void extract(std::vector&lt; pcl::PointIndices &gt; &amp;clusters)</div><div class="ttdoc">This method launches the segmentation algorithm and returns the clusters that were obtained during th...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_a9ee93524947e897d1f42f50e2e3f91b4"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#a9ee93524947e897d1f42f50e2e3f91b4">pcl::RegionGrowingRGB::setResidualTestFlag</a></div><div class="ttdeci">virtual void setResidualTestFlag(bool value)</div><div class="ttdoc">Allows to turn on/off the residual test.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:156</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_ad491c40b430a3cce68cbd54f40a8b52e"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#ad491c40b430a3cce68cbd54f40a8b52e">pcl::RegionGrowingRGB::getRegionColorThreshold</a></div><div class="ttdeci">float getRegionColorThreshold() const</div><div class="ttdoc">Returns the color threshold value used for testing if regions can be merged.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_ada29f9c9d4c8719ff00ce4d1ef8be55a"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#ada29f9c9d4c8719ff00ce4d1ef8be55a">pcl::RegionGrowingRGB::getSegmentFromPoint</a></div><div class="ttdeci">virtual void getSegmentFromPoint(int index, pcl::PointIndices &amp;cluster)</div><div class="ttdoc">For a given point this function builds a segment to which it belongs and returns this segment.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:691</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_adea4bb708dcff1412a93b8ee46c9f05f"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#adea4bb708dcff1412a93b8ee46c9f05f">pcl::RegionGrowingRGB::findSegmentNeighbours</a></div><div class="ttdeci">void findSegmentNeighbours()</div><div class="ttdoc">This method simply calls the findRegionsKNN for each segment and saves the results for later use.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:294</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_ae23969f865f015f1010a1e72a56aaf48"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#ae23969f865f015f1010a1e72a56aaf48">pcl::RegionGrowingRGB::setPointColorThreshold</a></div><div class="ttdeci">void setPointColorThreshold(float thresh)</div><div class="ttdoc">This method specifies the threshold value for color test between the points. This kind of testing is ...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_aefc4dcc3fbe7ab81dd8a2bad27bb0c36"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#aefc4dcc3fbe7ab81dd8a2bad27bb0c36">pcl::RegionGrowingRGB::findPointNeighbours</a></div><div class="ttdeci">virtual void findPointNeighbours()</div><div class="ttdoc">This method finds KNN for each point and saves them to the array because the algorithm needs to find ...</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:272</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_r_g_b_html_af2bd79d30676cddeb1bdb1fbf5facf50"><div class="ttname"><a href="classpcl_1_1_region_growing_r_g_b.html#af2bd79d30676cddeb1bdb1fbf5facf50">pcl::RegionGrowingRGB::setCurvatureTestFlag</a></div><div class="ttdeci">virtual void setCurvatureTestFlag(bool value)</div><div class="ttdoc">Allows to turn on/off the curvature test.</div><div class="ttdef"><b>Definition:</b> region_growing_rgb.hpp:149</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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